1. Overview

2. Details

2.1图像和像素点去畸变

/**   * @brief undistort a gray image   *   * @param src the distorted gray image [CV_8UC1]   * @param innerParam the camera's inner parameters   * @param distCoff the camera's distortion parameters   * @param methods the interpolation choice   * @return cv::Mat the undistorted gray image [CV_8UC1]*/static cv::MatundistortImage(      cv::Mat src,const CameraInnerParam &innerParam,const CameraDistCoff &distCoff,      Interpolation methods = Interpolation::NEAREST_NEIGHBOR) {...}

/**   * @brief undistort a pixel point   *   * @param srcPt the distorted point   * @param innerParam the camera's inner parameters   * @param distCoff the camera's distortion parameters   * @param threshold the threshold to stop iterator   * @param iterator the interator times   * @return cv::Point2f the undistoerted pixel point*/static cv::Point2fundistortPoint(      cv::Point2f srcPt,const CameraInnerParam &innerParam,const CameraDistCoff &distCoff,float threshold =1E-5,int iterator =5) {...}

2.2对极几何

/**   * @brief to get function matrix based on the epipolar constraints   *   * @param kps1 the keypoints in the first image   * @param kps2 the keypoints in the second image   * @param srcMatches the source matches, It can be matching data without preprocessing   * @param goodMatches the good matches that this algorithm return   * @param quantile the quantile to judge whether a match is an outlier   * @return Eigen::Matrix3f the function matrix*/static Eigen::Matrix3fsolveEpipolar(const std::vector<cv::KeyPoint> &kps1,const std::vector<cv::KeyPoint> &kps2,const std::vector<cv::DMatch> &srcMatches,const CameraInnerParam &innerParam,      std::vector<cv::DMatch> *goodMatches =nullptr,float quantile =1.323) {...}

/**   * @brief recovery the movement from the essential matrix   *   * @param eMatrix the essential matrix   * @param K the camera's inner paramters   * @param kp1 the key point in first frame   * @param kp2 the key point in second frame   * @param rot21 rotation matrix from first frame to second frame   * @param t21 translation matrix from first frame to second frame   * @return true the process is successful   * @return false the process is failed*/staticboolrecoveryMove(const Eigen::Matrix3f &eMatrix,const Eigen::Matrix3f &K,const cv::KeyPoint &kp1,const cv::KeyPoint &kp2,      Eigen::Matrix3f &rot21,      Eigen::Vector3f &t21) {...}

/**   * @brief to trangular a pair points on the normalized coordinate   *   * @param X1 the point on the first camera's normalized coordinate   * @param X2 the point on the second camera's normalized coordinate   * @param rot21 the rotation from first camera to second camera   * @param t21 the translation from first camera to second camera   * @param P1 the point on the first camera's coordinate   * @param P2 the point on the second camera's coordinate   * @return std::pair<float, float> the depth pair*/static std::pair<float,float>triangulation(const Eigen::Vector3f &X1,const Eigen::Vector3f &X2,const Eigen::Matrix3f &rot21,const Eigen::Vector3f &t21,      Eigen::Vector3f *P1 =nullptr,      Eigen::Vector3f *P2 =nullptr) {...}

2.3相机标定

2.4位姿轨迹滤波

2.4光流

2.5ICP

2.6 RANSAC

2.7 NMS非极大值抑制

2.8 射影变换

2.9 棋盘格网点结构恢复

3.0 图像全景拼接

3.1 ransacplus

3.2 视觉里程计之光流法

3.4 Git代码管理

3.5 PCL可视化

3.7 CMake

# -----------# for install# -----------include(CMakePackageConfigHelpers)include(GNUInstallDirs)# Export package for use from the build treeset(LIBRARY_CMAKE_EXPORT_DIR${CMAKE_INSTALL_DATADIR}/${LIBRARY_NAME}/cmake)set_target_properties(${LIBRARY_NAME} PROPERTIES EXPORT_NAME${LIBRARY_NAMESPACE})install(        TARGETS${LIBRARY_NAME}        EXPORT${LIBRARY_NAMESPACE}Targets)install(        EXPORT${LIBRARY_NAMESPACE}Targets        NAMESPACE${LIBRARY_NAMESPACE}::DESTINATION${LIBRARY_CMAKE_EXPORT_DIR})export(        TARGETS${LIBRARY_NAME}        NAMESPACE${LIBRARY_NAMESPACE}::        FILE${LIBRARY_NAMESPACE}Targets.cmake)export(        PACKAGE${LIBRARY_NAMESPACE})configure_package_config_file(${LIBRARY_NAMESPACE}Config.cmake.in${CMAKE_BINARY_DIR}/${LIBRARY_NAMESPACE}Config.cmake        INSTALL_DESTINATION${LIBRARY_CMAKE_EXPORT_DIR}        NO_CHECK_REQUIRED_COMPONENTS_MACRO)# Write version to filewrite_basic_package_version_file(${LIBRARY_NAMESPACE}ConfigVersion.cmakeVERSION${PROJECT_VERSION}        COMPATIBILITY AnyNewerVersion)# Install cmake targetsinstall(FILES${CMAKE_BINARY_DIR}/${LIBRARY_NAMESPACE}Config.cmake${CMAKE_BINARY_DIR}/${LIBRARY_NAMESPACE}ConfigVersion.cmakeDESTINATION${LIBRARY_CMAKE_EXPORT_DIR})# Install header filesinstall(DIRECTORY${CMAKE_SOURCE_DIR}/src/include/DESTINATION${CMAKE_INSTALL_INCLUDEDIR}/${LIBRARY_NAME})

3.8 Distortion

3.9 两视图几何